Method and apparatus for obtaining observation data of an environment

ABSTRACT

A robot (20) includes a base (203, 204) and a detachable probe (205). The probe (205) includes at least one sensor of a least one type. Propulsion of the probe is provided by an ejection mechanism (204, 302) in the base. When the probe is ejected by the base, the probe captures data using its sensor(s) during its trajectory, according to an observation plan established by the base. The probe is recaptured by the base, probe data is transferred to the base, and the probe (205) is configured for a new observation.

FIELD

The present disclosure generally relates to the field of robotics, andin particular for capturing information about a robot's environment.

BACKGROUND

Any background information described herein is intended to introduce thereader to various aspects of art, which may be related to the presentembodiments that are described below. This discussion is believed to behelpful in providing the reader with background information tofacilitate a better understanding of the various aspects of the presentdisclosure. Accordingly, it should be understood that these statementsare to be read in this light.

In robotics, observation of a robot's environment is important forefficient functioning of the robot. Therefore, the robot is equippedwith one or more sensors that enable it to capture its environment. Forexample, a robotic vacuum cleaner or a dedicated robotic measuringdevice may use a LIDAR to create a two-dimensional (2D) map (floorplan)of its environment, including walls and obstacles such as furniture, anduse the 2D map in order to improve cleaning efficiency. A 2D observationof the robot's environment has, however, shortcomings regarding athree-dimensional (3D) observation. A 3D mapping of the environment maygive the robot an improved understanding of the nature of the obstaclesdetected and this knowledge may add to the efficiency of the robot andits displacements. For example, a 3D observation in a home, office orother environment may enable to determine that an obstacle in the planewhere the robot evolves is an object that may be pushed aside in orderto clear the robot's path, or otherwise easily be circumvented, muchlike a human would do. However, 3D mapping of the environment mayrequire complex moving parts, which may be undesirable as it mayincrease costs due to increased complexity and may limit the device'spossibility for displacement/movement.

There is thus a need to further improve environment observation fordevices.

SUMMARY

According to one aspect of the present disclosure, there are providedmethods for obtaining observation data of an environment, according tothe described embodiments and appended claims.

According to a further aspect of the present disclosure, embodiments ofa device implementing at least one of the methods for obtainingobservation data of an environment are described and claimed in theappended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

More advantages of the present disclosure will appear through thedescription of particular, non-restricting embodiments. To describe theway the advantages of the present disclosure can be obtained, particulardescriptions of the present principles are rendered by reference tospecific embodiments thereof which are illustrated in the appendeddrawings. The drawings depict exemplary embodiments of the disclosureand are therefore not to be considered as limiting its scope. Theembodiments described can be combined to form particular advantageousembodiments. In the following figures, items with same reference numbersas items already described in a previous FIG. will not be describedagain to avoid unnecessary obscuring the disclosure. The embodimentswill be described with reference to the following drawings in which:

FIG. 1 a is a 2D grid map of an environment, determined by means of a 2DLIDAR.

FIG. 1 b is a 3D point cloud of an environment, as determined by meansof a 3D depth sensor.

FIG. 2 is a top view of a robot having a detachable probe according toan embodiment.

FIG. 3 is a side view of the robot of FIG. 2 .

FIGS. 4 a and 4 b are close-up views of some specific elements of therobot according to an embodiment.

FIG. 5 is a flow chart of a method for obtaining data of an environmentaccording to an embodiment.

FIG. 6 is a flow chart of a further method for obtaining data of anenvironment according to an embodiment.

FIG. 7 is a functional diagram of a base according to an embodiment.

FIG. 8 is a functional diagram of a probe according to an embodiment.

FIG. 9 is a flow chart of an embodiment of a method for obtaining dataof an environment.

It should be understood that the drawings are for purposes ofillustrating the concepts of the disclosure and are not necessarily theonly possible configuration for illustrating the disclosure.

DETAILED DESCRIPTION

The present description illustrates the principles of the presentdisclosure. It will thus be appreciated that those skilled in the artwill be able to devise various arrangements that, although notexplicitly described or shown herein, embody the principles of thedisclosure and are included within its spirit and scope.

All examples and conditional language recited herein are intended foreducational purposes to aid the reader in understanding the principlesof the disclosure and the concepts contributed by the inventor tofurthering the art, and are to be construed as being without limitationto such specifically recited examples and conditions.

Moreover, all statements herein reciting principles, aspects, andembodiments of the disclosure, as well as specific examples thereof, areintended to encompass both structural and functional equivalentsthereof. Additionally, it is intended that such equivalents include bothcurrently known equivalents as well as equivalents developed in thefuture, i.e., any elements developed that perform the same function,regardless of structure.

As set forth in the background section, a robot's efficiency may beimproved when the robot obtains a 3D mapping of its environment.However, this may imply an increased complexity and encumberment of therobot, which may be undesirable. The embodiments described herein givesome non-limited implementation examples of solutions to these and otherproblems.

A robot device may be equipped with one or more exteroceptive sensor(s)for measuring the robot's environment. A sensor is, for example, acamera or a depth sensor, a temperature sensor, a humidity sensor, or aradiation sensor. As the environment observation is dependent on thesensor location and orientation, it may be suitable to move the robotdevice, and thus the sensor(s), through the environment to get a moreexhaustive understanding of the environment. For example, when a camerasensor is used, it may be required to observe the same object frommultiple points of view (top, side) in order to obtain a 3Drepresentation of it. For example, the robot device may be a roboticvacuum cleaner. While the robotic vacuum cleaner device may be able toovercome low obstacles such as a doorsill, it is essentially a surfacedevice that explores a 2D plane of its environment only. But, in orderto explore the environment in three dimensions, it is much moredifficult to move the robot and enable its sensors to explore all threedimensions. As mentioned previously, limiting the robot's motion to the2D plane may create a restriction on the observation, which may limitthe robot's performance and its efficiency in executing the tasks forwhich it has been designed.

A possible solution would be that the robot is enabled for flight, muchlike an Unmanned Aerial Vehicle (UAV), or drone. Using this solution,obviously the third dimension problem is leveraged. However, it isdifficult and costly to obtain a robust, silent and safe solution basedon a drone. In addition, this may not be possible or accepted for use inan indoor environment such as an office or house, especially in thepresence of animals and humans.

Another possible solution would be to use an extendible robotic arm, forexample telescopic, the arm including sensors at one end. This mayrequire considerable additional hardware, may be fragile, and may impedea compact design. It may also adversely affect the robot's stability;when the arm accidentally encounters an object, the robot may tip over,rendering the robot inoperable. Again, it may not be possible to usethis solution in an indoor environment in the presence of animals andhumans because of an increased risk of injury.

FIG. 1 a is a 2D grid floor map 10 of an environment, determined bymeans of a robot capable of moving in the 2D plane. The robot is forexample equipped with LIDAR (Light Detection and Ranging, forrange/distance sensing through a laser device) sensor(s) to this end.The 2D grid map gives information about the environment in the planewhere the robot moves. The 2D grid map enables to detect the presence ofwalls/furniture 100, doors/openings 101.

FIG. 1 b is a 3D cloud point of the same environment, determined bymeans of a robot capable of moving in the 3D plane. The robot may, forexample, be equipped with range/distance sensor(s) as above. The cloudpoint may be obtained by aggregation of many cloud point slices, eachslice being obtained at a different height of the robot.

It may be observed that the 3D cloud point may be useful in determiningthat an opening is a door that may lead to another room, or rather awindow that does not, and that there is no movable furniture in theroom, only fixed furniture that is positioned against the walls (such ascupboards fixed to the walls), or rather, that the room includesmoveable furniture or other objects, objects that can be moved orcircumvented by the robot. As to objects that may be moved (e.g., pushedaside) by the robot (e.g., to clear the path for a cleaning robot), therobot may be preconfigured with a list of objects that it is authorizedto move, and possibly an emplacement where to move the objects to, muchlike a human would do when performing a cleaning task.

FIG. 2 is a top view of a robot (host, host device, base, base device)having a detachable probe (‘probe’) according to an embodiment, theprobe including one or more sensors for obtaining a 3D mapping of therobot's environment. The robot 20 has a body 202 with displacement ormovement mechanism such as wheels 201. Other displacement or movementmeans may be contemplated such as tracks, rollers or air cushion, toname a few. The body 202 includes a capturing arrangement (bowl,curvature) 203 with a probe storage-and-launch-space (tube, opening,cavity, emplacement) 204. Capturing arrangement 203 and probestorage-and-launch-space 204 form a reception arrangement. The capturingarrangement 203 and the probe storage-and-launch-space 204 may form afunnel. Inside the probe storage-and-launch-space is a detachable probe205 (‘probe’ hereinafter). Under the probe storage-and-launch-space 204is an ejection mechanism for ejecting probe 205, here an electromagnet301 with a piston 302 (see FIG. 3 ; not shown in FIG. 2 ). The ejectionmechanism may be located elsewhere, e.g., at the side of probestorage-and-launch-space 204. The term ‘detachable’ in the context ofthe probe meaning that the probe is an entity/device that may beseparated from the robot/base device such as to enable its ejection fromthe robot/base device, notwithstanding that the probe may be attached tothe robot/base device through a wire or cable.

FIG. 3 is a side view of robot 20. The presence of elements 203-205 and301-302 inside body 202 is indicated through dashed lines as asee-through view. The example ejection mechanism that includes elements301 (electromagnet) and 302 (piston) is shown.

FIG. 4 a is a close-up view (zoomed view) of elements 203-205 and301-302, explicitly showing the capturing arrangement 203, the probestorage-and-launch-space 204, ejection mechanism 301-302, and probe 205.Alternatively, it can be argued that the ejection mechanism includesprobe storage-and-launch-space 204 as probe storage-and-launch-space 204may play a role in the ejection of probe 205 as will be explainedfurther on, while it can also be argued that probestorage-and-launch-space 204 is part of capturing arrangement 203, asprobe 205 is contained in the recipient/tube when in its rest (docking)position. The piston 302 having two possible positions A and B, is heredepicted in position A, and probe 205 being located inside probestorage-and-launch-space 204, probe 205, while in a rest position asdepicted, is ready to be ejected (launched).

FIG. 4 b is another close-up view of elements 203-205 and 301-302.Electric energy provided to electromagnet 301 has caused piston 302 tomove to position B which in turn has caused the ejection (launching) ofprobe 205. As mentioned previously, electromagnet 301 and piston 302constitute a probe ejection mechanism. Other embodiments for ejectionmechanisms than shown are described further on. When probe 205 hasreached its highest point and returns to robot 20, it is captured bycapturing arrangement 203, which, because of its form, will direct theprobe to probe storage-and-launch-space 204. When probe 205 is in theair, it may capture (observe) the environment of robot 20/theenvironment of the probe using its sensor(s). Once probe 205 is in probestorage-and-launch-space 204, it is in a rest (docking) position, andthe probe may be configured for a next observation. According toembodiments, robot 20 may protect probe 205 from intentionally orunintentionally being removed from probe storage-and-launch-space 204.According to an embodiment, securing probe 205 in probestorage-and-launch-space 204 is done by mechanical means, such as, forexample, a hatch, flap or shutter in the top of the probestorage-and-launch-space 204 and probe 205, or an (electromechanical)magnet that attracts probe 205 to the bottom of the probestorage-and-launch-space 204 and that keeps it in its docking position,or air suction that may guide probe 205 to probestorage-and-launch-space 204 and that may keep it in its dockingposition once it is located in probe storage-and-launch-space 204, orany combination of these embodiments. According to embodiments, thesecuring/docking and/or the ejection mechanisms may be armed/preparedfor a next ejection of the probe through a mechanism that ismechanically linked to an arrangement of robot responsible for movementof the robot 20. The arming/securing (docking) may be performed duringmovement of the robot.

While FIGS. 2-4 are example embodiments of a robot having a detachableprobe, the probe including sensors for capturing the robot's/probe'senvironment, other embodiments are possible without diverging from thepresent principles. For example, capturing arrangement 203, of which thefunction is to capture probe 205 and to guide probe 205 to probestorage-and-launch-space 204 when it returns back to robot 20 afterhaving been ejected, has, according to embodiments, an oval, trapezoidor funnel form. Also, according to a different embodiment, capturingarrangement 203, instead of being formed in body 202 as depicted inFIGS. 2-4 , may extend from body 202, e.g., may extend from the top orthe side of body 202. According to a further embodiment, capturingarrangement 203 including probe storage-and-launch-space 204 extendsfrom body 202. According to a further embodiment, capturing arrangement203 including probe storage-and-launch-space 204 and probe ejectionmechanism 301/302 extends from body 202. According to an embodiment, atleast part of elements 203-205 and/or 301-302 are rotatably mounted(in)to body 202, so as to enable directing the ejection trajectory ofprobe 205 according to the orientation, inclination, tilting or rotatingof at least part of the elements 203-205 and/or 301-302, or tocompensate for an inclination of robot 20 when the latter is positionedon an inclined/sloping surface.

Probe storage-and-launch-space 204 is not necessarily arranged in thecenter of capturing arrangement 203, but may be located in the lowestpoint of capturing arrangement 203 according to embodiments, so that theprobe, when captured by capturing arrangement 203, is directed to probestorage-and-launch-space 204 through gravity.

According to an embodiment, the capturing arrangement 203 may lead to anopening that is different from the probe docking location. The probe maythen, once it has been captured after having been ejected, directed toits docking location from the opening in the capturing arrangement 203,for example through a tube or passageway.

According to an embodiment, the probe storage-and-launch-space 204 andthe capturing arrangement 203 form a single shaped reception and/orejection arrangement where the probe storage-and-launch-space 204 andthe capturing arrangement 203 are merged and are not distinguished fromeach other. The reception/ejection arrangement shape may have, forexample, a V-form or a tube form, or be deformable like a net or fabric.

Probe 205 includes at least one sensor for capturing of the environmentof robot 20. As described previously, probe 205 is ejected (launched) inthe air when the ejection (launching) mechanism is operated. Theejection mechanism's orientation (that may be operated through rotation,tilting, inclination), or the robot's movement itself, may give anadditional horizontal component to the trajectory of probe 205.According to an embodiment such as depicted with the help of FIGS. 2-4 ,the energy necessary for launching probe 205 is provided by the robot20. According to this embodiment, probe 205 is therefore a passivedevice regarding its propulsion (displacement, movement) in the air.According to an embodiment, robot 20 may eject probe 205 with adetermined (adjustable, parametrizable, configurable) force, to launchthe probe at a specific (predetermined, configured) height, where theheight is further dependent on parameters such as the force applied forits ejection, the weight of probe 205, and its aerodynamiccharacteristics and possibly its spin (rotation). The ejection mechanismmay be as described with the help of FIGS. 3-4 . According to anotherembodiment, the ejection of probe 205 is provided by pressurized air orother pressurized gas. According to an embodiment, probe 205 may be heldup in the air for increased observation duration and observation heightadjustment due to a pressurized air column generated by robot 20 andflowing, for example, out of probe storage-and-launch-space 204. Thelatter embodiment may be interesting when robot 20 is a vacuum cleaner,as the air flow created by the output of the vacuum cleaner motor may bedirected, using an air valve, to the probe storage-and-launch-space 204so as to create the air column output from the probestorage-and-launch-space. According to yet another embodiment, ejectionof probe 205 is provided by a spring. According an embodiment, probe 205has the shape of a ball like depicted in FIGS. 2-4 . According toembodiments, probe 205 has a different shape, such as a cylinder shape,a disc shape, a frisbee shape, a spheroid shape, a cubic shape, a stickshape, a dome (or parachute) shape, a kite shape or yo-yo shape.According to embodiments, the shape of probe 205 is designed to obtainspecific probe features such as aerodynamical features such as thepreviously mentioned frisbee shape, a dome (parachute-like) shape or akite shape, or may deploy winglets in order to stabilize the probe/toextend the observation duration associated with an ejection. The domeand kite probe shapes may in particular be used in combination with thepreviously discussed pressurized air embodiment, and have the furtheradvantageous feature in that they can be attached with a string or wireto the robot 20 in order to facilitate return/retrieval of the probe tothe robot after an ejection. A yo-yo shaped probe may also be used. Afrisbee-shaped probe may be advantageous when the probe is used in largespaces such as factory halls. According to an embodiment, the probe,when ejected, is given, by the ejection mechanism and/or by the probestorage-and-launch-space a determined rotation that enables the probe tostabilize itself through spin-stabilization or gyroscopic effect. Forexample, the probe storage-and-launch-space may have a threading orrifling that gives spin to the probe when it is ejected. For example,the probe storage-and-launch-space may contain an air nozzle in one ofits side walls that gives spin to the probe before or during itsejection. For example, the probe storage-and-launch-space may include amechanism that enables to give a predetermined amount of spin (rotation)to the probe, e.g., through an electromagnetic arrangement, airpressure, and/or bearings, before or during ejection. According to thisembodiment, the probe's Inertial Measurement Unit (IMU) measures therotation of the probe while performing an observation and determines, asa function of the measured rotation, the exposure duration and/or numberof images taken per 360° rotation of its on-board optical camera sensor,in order to construct a usable set of images or video. Likewise, theprobe may determine, as a function of the measured rotation, the numberof distance measurements performed per 360° rotation with the probe'sdistance measurement sensor. The IMU readings may be coupled to eachobservation or to a number of observations, possibly coupled to atimestamp generated by the probe internal clock, to comprise theobservation data, so that it may be determined from the observation datathat an observation was made at a particular angle and time, and/or tocompensate for undesired effects due to the rotation (such as blurring,smearing, tearing effects), which may be compensated for (corrected) bypost- or preprocessing the observation data (such as image processing).Alternatively, it may be wished that the probe has no rotationalmovement when ejected, e.g., for stabilizing images taken by (a)(relatively slow) optical sensor(s) and avoid motion blur and/or rollingshutter effects. To this end, and according to embodiments, the probemay include at least one motor. The IMU may sense the movement of theprobe and actuate the at least one motor, as a function of the movementsensed by the IMU, thereby giving rotational movement (spin) to at leastone of a set of orthogonally mounted discs or circles of the probe tocreate a compensating angular momentum vector and to bring the rotationof the probe to a halt and possibly to give the probe a desiredorientation. The embodiment may also be used to give the probe anydesired orientation during its trajectory, which may also be useful, forexample, when the probe has only one sensor, so that the one sensor canbe oriented to make a 360 degree turn during its trajectory.

A probe having multiple types of sensors may be ejected at a samelocation several times in order to perform different observations thatuse different types of sensors. For example, the probe may be ejectedwith a predetermined spin when the LIDAR sensor(s) is (are) used in afirst observation, then be ejected without spin to do an observation atthe same spot when the optical sensor(s) is (are) used for a secondobservation. The observation data made with the different types ofsensors may be used to create a single observation data set.

For retrieval of the probe, different embodiments may be contemplatedthan that depicted in FIGS. 2-4 . According to an embodiment, the robotdoes not include capturing arrangement 203. Such embodiment may becontemplated when the return trajectory of probe 205 is (essentially)predictable, like when probe 205 is attached with a string or wire torobot 20 (e.g., when the probe is kite, yo-yo, or dome shaped) and canbe easily brought back to robot 20 by the wire being rewound, or whenusing the pressurized air embodiment. Such embodiment may also becontemplated when the robot has calculated the trajectory of probe 205,and the robot may position itself at the expected probe landing spot torecapture it. The trajectory calculation may be stored and used as areference for each new ejection that is done with same parameters. Suchembodiment may also be contemplated when the robot has means to followthe trajectory of the probe, such as a camera, and may then positionitself at the expected probe landing spot. Another embodiment forrecapturing probe 205 after ejection may include capturing probe 205once it has returned to the surface (floor) where robot 20 is located.According to such embodiment, robot 20 may locate probe 205 once this ison the floor and include a hatch, flap or opening for capturing theprobe as the robot is moved to be positioned near to/over the probe.According to an embodiment, robot 20 may detect that probe recapturinghas failed, for example, when probe is not detected in its rest positionat its expected return time after an ejection. Such detection may bedone using (a) sensor, such as an optical sensor, pressure sensor, or aswitch engaged/disengaged by the weight of the probe. When it isdetermined that probe has not returned to the base as expected, therobot may search for the probe, locate it, and move to it to capture it.Alternatively, the robot may generate an alarm and wait for a user tosearch for the probe and to return it to the robot's capturingarrangement 203. Still alternatively, the robot may have a stock ofprobes and may continue its observations as long as it has at least oneremaining probe.

According to an embodiment, the robot 20 may move around and mayrepeatedly eject probe 205 to perform observations of its environment.According to an embodiment, robot 20 may stop when an observation isperformed and continue to move to a next position when the probe 205 hasbeen recaptured. According to another embodiment, robot 20 may ejectprobe 205 while in movement, and give probe, through the robot'smovement, a ballistic trajectory dependent on the force applied to ejectprobe 205, the weight of probe 205, and further depending on themovement and speed of robot 20. Robot 20 may then move to the expectedlanding location of probe 205 and capture, at the expected landinglocation, probe 205. According to a different embodiment, the ejectiondirection of probe 205 may be oriented by orienting or tilting theejection mechanism. Likewise, capturing arrangement 203 including probestorage-and-launch-space 204 may be oriented/tilted to recapture probe205 when it falls back. According to an embodiment, robot 20 furthercomprises a distance sensor device (distance meter), such as a laserdistance sensor device, to measure the height clearance for ejection ofprobe 205. Based on the distance meter, the robot can determine whetherprobe 205 can be ejected and at which height, thereby avoiding obstaclesthat may be in the ejection path or trajectory.

According to an embodiment, a robot may launch/eject multiple probessimultaneously or substantially simultaneously, to perform a singleobservation using the multiple probes.

According to an embodiment, multiple robots may cooperate to performobservations using a single probe. For example, a first robot may ejectthe probe at destination of a second robot, that will capture the probe,while the first robot moves to another location, at which location itwill receive the probe ejected by the second robot, and so on. This way,an observation of an environment can be performed in a quick andefficient manner.

In this way, multiple probe ejections may be performed and associatedenvironmental observations may be done. For example, a robot may performmultiple observations at different locations in a room (or area) to geta 3D mapping of the room (area), determine any obstacles, possiblydetermine the nature of the obstacles in the room, and possibly discoverany passages/pathways to other rooms (areas). According to embodiments,the probe sensor(s) may capture the probe's environment during aspecific moment of the probe's ejection, such as when it reaches itshighest point, or continuously or periodically during its ascent ordescent or any combination of the previous. The latter embodimentenables to observe the environment as slices, each slice correspondingto a measurement of its environment at a different height.

The detachable probe, such as probe 205, may be a passive device withregard to its displacement and possibly with regard to its orientation(e.g., its orientation may be predetermined by its spin or and/or by itsform given its features, e.g., inertial features, aerodynamicalfeatures). It contains at least one sensor and some electronics to drivethe sensors and to retrieve measurements from them. The probe may sendacquired data to its host device (e.g., to robot 20, or to a distantserver) during observation or store them internally so that the hostdevice may download the data from the probe later. Alternatively, themeasurements may be stored in the robot or in the probe, and may beretrieved later from the robot or the probe by a tier device (e.g., aPersonal Computer, or an USB stick). Data transmission/exchange betweenprobe and host device may be done wirelessly, or via wires, according toembodiments. The latter method may be used, for example, in embodimentswhere the probe is attached to the host device via a wire (seepreviously discussed embodiments) or when the probe device is dockede.g., via a connector when the probe is recovered by the host device.The probe may, according to embodiments, include an Inertial MeasurementUnit (IMU) which may include gyroscope sensor and/or accelerometer(s).

While the probe's outside surface may be essentially be made of a softmaterial such as a foam in order to avoid injury to persons or animalsand to reduce noise when recaptured by the host device, the probe mayhave at least partly a hard surface, for example a hard plastic ormetallic surface, meant to receive the ejection force from the host'sejection mechanism. In embodiments where the probe surface is at leastpartly metallic, magnetic force may be used to keep the probe in contactwith the host when it is in its rest position. The magnetic force mayalso be used to dock the probe into its rest position according to apredetermined orientation, to ensure coupling of the probe to a dataconnector in the host device. The host device may alternatively or incombination also include mechanical parts to lock the probe in its restposition, such as electrically operated set of rollers (bearings) thatenable to turn the probe in a predetermined orientation (position).Alternatively, the probe may be have a center of gravity that enablesthe probe to turn in the predetermined position, possibly helped by ofrollers in the probe storage-and-launch-space 204.

An IMU in probe 205 may be used (together with a filtering algorithm) tomeasure rotation speed and to determine the ejection/launching phase,apex point, and return to host device phases. In addition, as previouslymentioned, the IMU may be used to determine sensor exposure time and/orthe number of observations (number and duration of sensor activations)per rotation, and the IMU data may be coupled to the sensor data, or toenable pre- or postprocessing in order to remove undesired effects fromthe observation data that are due to the probe's rotation. The IMUoutput may further be used to trigger observations. For example,observations are triggered during the ejection phase and during the apexpoint phase when the probe has an essentially vertical trajectory,because the position of the probe is considered to be the most stableduring these phases of its trajectory. For example, observations aretriggered during the ejection phase, the apex point phase, and thereturn to host device phase when the trajectory given by the host devicehas a horizontal component in addition to a vertical component becausethe position of the probe is considered to be stable in all phases ofits trajectory. For example, observations are triggered only during theapex point phase. As mentioned previously, the probe's observationsduring its trajectory may be stored as observation slices (data), eachslice corresponding to a different height (and horizontal position ifthe trajectory has an additional horizontal component) and may thereforebe used to create a 3D point cloud of the robot's environment, forexample.

According to an embodiment, the probe's sensor(s) is/are protected byits structure and are preferably placed inside or at least in recess ofits surface. Probe sensors are for example, IMU(s), optical camera(s),and laser ranging sensor(s). The probe may be covered with hard rubberor any other material to reduce rebound when returning to the hostdevice after having been ejected by the host device, thereby attenuatingthe amplitude of the rebound and thereby reducing the risk of not beingcaptured by the host device. The probe structure may be engineered toabsorb shocks using a slowly deformable structure.

The probe may contain one or several sensors of a same or of differenttypes. When the probe is given spin, it may do with less sensors thanwhen it is not given spin. For example, a single laser ranging sensor oroptical camera may be sufficient for a full 360 degree observation whenthe probe is turning around an axis (e.g., a horizontal axis) whenejected, while several laser ranging sensors or optical cameras may berequired for a same 360 degree observation when the probe is not turningaround one of its axis when ejected. Observations made from a rotatingprobe may require more advanced post-processing (e.g., if the sensor isa camera, the images taken at different angles may need to be stitchedtogether).

According to an embodiment, the IMU data is coupled and synchronizedwith the data of the other sensors, so that it can be determined, fromthe coupled and synchronized data, at which position of the probe anoptical observation or laser ranging measurement was done.

According to an embodiment, the IMU data, synchronized with the othersensor data, is kept (stored, memorized) separately from the othersensor data, and/or transferred separately to the base, for example in aseparate communication channel.

According to an embodiment, the probe may include a clock unit fortimestamping the observations (measurements) and/or for triggering theobservations. According to an embodiment, the robot pre-calculates(computes in advance) the trajectory of the probe preceding its ejectionand then instructs the probe to trigger observations at predeterminedtime instants, that, for example correspond to one or more of thedifferent phases of the probe's trajectory, and/or to different(vertical, horizontal) positions of the probe in its trajectory. If theprobe is further given spin by the robot at its ejection, the robot mayfurther predetermine the trigger moments by taking account of theprobe's rotation, so as to predetermine the angle under which anobservation is made by the probe. Then, given the timestamp of anobservation, it can be determined at which position and angle theobservation was made. A trigger for observation may be directed to onesensor or to multiple sensors at a same time. The triggers may bepreloaded into the probe before its ejection, and/or transmitted to theprobe during its trajectory. As mentioned previously, the probe maystore the observation data and transfer the stored observation data whenthe probe has been re-captured by the robot, and/or transfer theobservation data to the robot ‘on the fly’, when having completed anindividual observation. Alternatively, the probe may store and transferthe observation data, for example it may store the observation for anumber of triggers corresponding to individual observation of one sliceof the point cloud, then transfer the stored observations to the robot,and restart this processing for a next number of triggers for a nextslice.

Alternatively, the robot may instruct the probe to collect observationdata autonomously at trigger moments that are determined by its IMUsensors. The robot may have pre-calculated the expected IMU data atgiven moments of the expected trajectory of the probe, for exampleascending, zero gravity, descending, acceleration x or y m/s.

Alternatively, the instructions provided by the robot to the probe maybe a combination of the above, the probe finetuning the moment oftriggering an observation based on the timestamp trigger received fromthe robot while subordinating the observation to the IMU parametersobserved and as specified in the instructions. For example, the robotmay instruct the probe to do an observation from time t₁ to t_(n), whilethe IMU parameters are between low and high, or low only, or high onlyvalue(s)/threshold(s).

A same type of robot device may use different type of probe devices, asthe probe devices may be adapted to be used in a particular environmentfor optimal performance. A type of probe device is for example any ofthe probe devices as described previously, and types may be, forexample, differentiated according to specific aerodynamic behavior,weight, dimensions, number and type of sensors embarked. Therefore, eachprobe type may have an identifier that is specific to the probe type.The probe type may be communicated to the robot when the probe isinserted in the robot by a user, for example. The robot may, dependingon the probe type, parametrize different features related to the probe'sejection such as ejection force, spin on or off, initial spin speed, andtrajectory (flight plan). The robot may also prepare an observation planfor the probe according to its type, including triggering moments andsensor(s) used.

FIG. 5 is a flow chart of an embodiment of a method 500 for obtainingobservation data of an environment.

In a step 501, the probe is ejected from its docking position in thebase.

In a step 502, the probe measures IMU parameters (e.g., acceleration androtation speed) and determines, from the IMU parameters, the flightphase (e.g., ascent phase, apex phase, descent phase).

In a step 503, the probe triggers one or more observations according tothe determined flight phase, the observations being performed using atleast one of its built-in sensor(s).

In step 504, the probe is captured by the base and the probe is moved toa docking position for data transfer.

In a step 505, the data captured by the probe is transferred to thebase.

In decisional step 506, it is determined whether further data capturingsessions are required and the base is therefore to be moved to a nextposition, or whether the data capturing sessions are done.

If further data capturing sessions are required (506—Yes), the base ismoved, 508, to the next position, and the capturing process is repeatedby returning to step 501.

If no further data capturing sessions are required (506—No), thecapturing method ends, 507.

The data collected can now be processed by the base, or by (a) distantserver(s), to create a map of the environment such as a 3D point cloud.

FIG. 6 is a flow chart of a different embodiment of a method 600 forobtaining observation data of an environment.

In a step 601, the base establishes a trajectory (flight) plan for theprobe, according to the probe features that may include (flight)characteristics, probe configuration (e.g., number of sensors, type ofsensors) and according to the desired observation. Probe (flight)characteristics and probe configuration may be obtained from the probeby identification of the probe (e.g., the probe providing an identifierto the base), and looking the identification number up in a table ordatabase in order to find the probe features including (flight)characteristics and configuration. Probe (flight) characteristics andconfiguration may include features that enable the base to determineejection parameters such as ejection force needed to eject the probe toa desired height, ejection angle to give it a desired trajectory, giveit an amount of rotation or not, but also to establish its flightduration, flight path, so that it can establish the flight plan for theprobe and triggering moments for observations by the probe.

In step 602, the base establishes probe instructions (configurationdata) related to a schedule of trigger moments for triggeringobservations by the probe, according to the flight plan and probe type,where the probe type enables the base to retrieve the probe features.

In step 603, the base transfers the instructions to the probe.

In step 604, the base ejects the probe.

In step 605, the probe performs observations (captures data from itssensor(s)) during its flight (during a data capturing session that maycover the whole flight period or partly), based on the trigger momentsreceived from the base, and stores the data from these observations.

In step 606, the probe returns to the base and is collected in itsdocking position in the base.

In step 607, the data captured by the probe resulting from the datacapturing session is transferred to the base.

If no more data capturing sessions are to be performed (607—no), themethod ends, 609. The data collected can now be processed by the base,or by (a) distant server(s), to create a map of the environment such asa 3D point cloud.

If further data capturing sessions are needed (607—Yes), the base ismoved to a next position in step 608, and the method is repeated fromstep 601.

FIG. 7 is a functional diagram of a base according to an embodiment.Base 700 is an example embodiment of a robot 20. Base 700 includescircuitry comprising at least one processor 701, and memory 702. Thememory includes instructions that, when executed by the at least oneprocessor, among others, make the base perform, at least for the partthat is performed by the base (another part is performed by the probe,the base and the probe may be considered as one device or a system), themethod for obtaining observation data of an environment according to atleast one of the described embodiments. The memory further includesinstructions for the at least one processor to implement the function(s)for which the robot has been designed (e.g., cleaning, exploration,surveillance). The memory may further store data to be transmitted to aprobe (e.g., configuration data) such as probe 800, or that is receivedfrom the probe (e.g., observation data, measurement data, data from acapturing session, probe identification data, probe configuration data).Clock unit 703 provides an internal clock for coordinating the operationof base 700 and of the probe. For example, the clock may be used toschedule trigger moments, and to trigger the observations by probeaccording to the scheduled trigger moments. Clock unit 703 may besynchronized with a similar clock unit in the probe for that purpose. Atransmit/receive unit interface 705 is provided for communicationbetween the base 700 and the probe. In case the probe is attached with awire to the base and the wire attaching the probe is also suitable fordata communication, or when the probe connects to the base using aconnector when in rest (docking) position, the communication interfaceand communication protocol used may be one suitable for wiredcommunication. In case the probe is wireless, the communicationinterface and protocol used may be one for wireless communication, suchas Bluetooth, Zigbee, WiFi, or Near Field Communication (NFC). Accordingto embodiments, a combination of wired and wireless communication may beused for data communication between the probe and the base. The base mayfurther include a further transmit/receive unit interface 707 fornetwork communication, for example for network communication with aserver that manages the robot, and/or that processes the data obtainedby the base from the probe, to establish a 3D map of the robot'senvironment, that may be transmitted to the robot, fully or partially,after processing. Alternatively, the base may only have onetransmit/receive unit interface, for example, when the interface is usedfor data communication between the base and a server in the network, andfor data communication between the base and the probe. The base 700further includes driver logic (electronic circuitry) for probe ejectionand/or probe docking, 704 a, which logic is coupled to the mechanical,and/or electromechanical, and/or hydraulic or air pressure components704 b that are part of the base, and that are used for probe ejectionand/or docking. The base further includes driver logic 706 a fordisplacement (movement) of the base, and associated mechanical,electromechanical, hydraulic or air pressure hardware elements 706 b(e.g., motors to operate wheels or tracks, air cushion, to name a few).Finally, the base includes driver logic 708 a and associated mechanical,electromechanical, hydraulic or air pressure hardware elements 708 b forproviding the function for which it has been designed (e.g., cleaning,exploration, surveillance). An internal communication bus 711interconnects the functions/elements described for internalcommunication between the functions/elements.

FIG. 8 is a functional diagram of a probe 800 according to anembodiment, that is suitable for being used with base 700. Probe 800includes at least one processor 801, and memory 802. The memory includesinstructions that, when executed by the at least one processor, amongothers, make the probe perform, at least for the part that is performedby the probe (another part is performed by the base, the base and theprobe being a system), the method for capturing 3-dimensional dataaccording to at least one of the described embodiments. The memoryfurther includes instructions for the at least one processor toimplement the function(s) for which the probe has been designed (e.g.,observation). The memory may further store data received by the probe(e.g., configuration data for the probe) from the base, or that iscaptured by the probe (e.g., observation data, measurement data, datafrom a capturing session), or that is specific to the probe such asprobe identification and associated probe configuration in terms offlight (aerodynamic) related characteristics or features, type andnumber of sensor(s). Clock unit 803 provides an internal clock forcoordinating the operation of the probe with that of the base. Forexample, the clock unit 803 may be used to trigger the observations bythe probe according to scheduled trigger moments. Clock unit 703 may besynchronized with similar clock unit 803 in the base for that purpose. Atransmit/receive unit interface 805 is provided for communicationbetween the probe and the base. In case the probe is attached with awire to the base and the wire attaching the probe is also suitable fordata communication, or when the probe connects to the base using aconnector when in rest (docking) position in the base, the communicationinterface and communication protocol used may be one suitable for wiredcommunication. In case the probe is wireless, the communicationinterface and protocol used may be one for wireless communication, suchas Bluetooth, WiFi, Zigbee, or Near Field Communication (NFC). Accordingto embodiments, a combination of wired and wireless communication may beused for data communication between the probe and the base. The probemay include one or more IMU sensor(s) and associated drive logic(electronic circuitry) 804. The probe includes one or more other type ofsensor(s) such as optical or infrared camera(s), laser telemetrydistance sensor(s), temperature sensor(s), radiation sensor(s) andassociated drive logic, 806. Finally, the described elements areconnected to an internal data communication bus 811.

According to embodiment, probe 800 may include a battery or a capacitorto provide energy to the elements in the probe that are used forobservation and data retrieval. According to an embodiment, the requiredenergy is obtained from the movement of the probe during its trajectoryand/or from its rotation. The above embodiments may combined, forexample the probe may, before its ejection, given a rotation thatcharges a capacitor in the probe, and the energy stored in the capacitoris used by the probe during its trajectory (even if the probe rotationis cancelled when it is ejected). The probe battery or capacitor mayalso be (periodically) charged when the probe is in its rest position,for example via a connector or via inductive charging, or throughrotation.

FIG. 9 is a flow chart of a method 900 for obtaining data of anenvironment, the method being implemented by a device having a base anda detachable probe comprising at least one sensor for environmentobservation. In step 901, a trajectory of the probe is determined, basedon the probe features (characteristics) and on an observation plan. Instep 902, the observation plan, or at least trigger moments fortriggering observations according to the observation plan, is/aretransferred to the probe. In step 903, the probe is ejected. Theejection force and/or orientation (e.g., horizontal and/or verticalangle) are computed and applied according to the determined trajectory.In step 904, the probe triggers one or more observations using its atleast one sensor according to the observation plan/the trigger moments.In step 905, the probe is captured by the base and observation data,generated by at least one of the observations performed by the probe,is/are retrieved from the probe. Alternatively, in step 905, theobservation data generated by the at least one of the observationsperformed by the probe is/are retrieved from the probe before the probeis captured by the base. Alternatively, in step 905, the observationdata generated by the at least one of the observations performed by theprobe is/are retrieved from the probe partly before the probe iscaptured by the base and partly after the probe is captured by the base.

According to an embodiment, the observation plan includes timestamps fortriggering the one or more observations, e.g., a different timestamp perobservation. The timestamps determine the observation moments.

According to an embodiment, the observation data is at least partlyretrieved from the probe during its trajectory. For example, partlyretrieved observation data may be a complete observation at a givenpoint in the trajectory of the probe and may correspond to a 3D pointcloud. For example, partly retrieved observation data may be a batch ofobservations at different points (locations) in the probe's trajectory,the points being following (sequential) or not. For example, partlyretrieved observation data may be one or more observations at a givenpoint in the trajectory of the probe, when the probe has been given arotation; for example, the partly retrieved observation data maycorrespond to one observation of a 360° observation, or any number ofobservations that constitute a full 360° observation at the given pointof the trajectory.

According to an embodiment, the observation moments are triggeredaccording to the observation plan, and further based on measurementsretrieved from an IMU in the probe. For example, the observation planmay contain instructions that the probe is to trigger observations whenthe probe is at a given speed, height, or is moving upwards ordownwards, or in the apex position. For example, the observation planmay contain instructions that the probe is to trigger observations whenits rotational speed (number of revolutions per time entity) is at agiven value, or between given values.

According to an embodiment, the probe is given an amount of rotationwhen ejected. This is particularly useful for stabilizing the probe'smovement for improved observation, and/or, when the probe has only asingle sensor or a number of sensors, to enable 360 degree observationswith the single sensor or the number of sensors.

According to an embodiment, the device for obtaining observation data ofan environment includes a base; an ejection mechanism (301, 302, 204)for ejecting a detachable probe (205), the detachable probe including atleast one sensor for environment observation; a reception arrangement(203, 204) for capturing the probe when it has been ejected and returnsto the base, and for directing the probe to a docking location when ithas been captured; the base comprising at least one processor, the atleast one processor being configured to: determine a trajectory of theprobe based on probe features and on an observation plan; transfer, tothe probe, the observation plan; eject the probe, wherein at leastejection force and ejection orientation are determined by the at leastone processor as a function of the determined trajectory; retrieveobservation data from the probe, from the at least one observationperformed by the probe through its sensors, wherein the observationmoments are at least triggered according to the observation plan.

According to an embodiment, the ejection mechanism comprises a furtherdevice for giving an amount of rotation to the probe at its ejectionfrom the base, and the at least one processor is further configured todetermine the amount of rotation to give to the probe according to theobservation plan.

According to an embodiment, the at least one processor is configured toestablish the observation plan comprising the trajectory and theobservation moments.

According to an embodiment, each of the observation moments correspondto an observation by the probe at a different point in the trajectory,e.g., in the x, y, z axis, ascending or descending, apex, or observationangle.

According to an embodiment, the observation data retrieved from theprobe at different points in the trajectory are 3D point cloud slicesand wherein the at least one processor is further configured toestablish a 3D point cloud observation from aggregation of the 3D pointcloud slices retrieved from the observation data.

Example, non-limited applications of the embodiments described herein,are:

-   -   Environment mapping;    -   Obstacle avoidance;    -   Security/surveillance;    -   Environmental quality measurement, such as air quality,        temperature, humidity, radiation, to name a few;    -   Augmented or virtual reality.

It is to be appreciated that some elements in the drawings may not beused or be necessary in all embodiments. Some operations may be executedin parallel. Embodiments other than those illustrated and/or describedare possible. For example, a device implementing the present principlesmay include a mix of hard- and software.

It is to be appreciated that aspects of the principles of the presentdisclosure can be embodied as a system, method or computer readablemedium. Accordingly, aspects of the principles of the present disclosurecan take the form of an entirely hardware embodiment, an entirelysoftware embodiment (including firmware, resident software, micro-codeand so forth), or an embodiment combining hardware and software aspectsthat can all generally be defined to herein as a “circuit”, “module” or“system”. Furthermore, aspects of the principles of the presentdisclosure can take the form of a computer readable storage medium. Anycombination of one or more computer readable storage medium(s) can beutilized.

Thus, for example, it is to be appreciated that the diagrams presentedherein represent conceptual views of illustrative system componentsand/or circuitry embodying the principles of the present disclosure.Similarly, it is to be appreciated that any flow charts, flow diagrams,state transition diagrams, pseudo code, and the like represent variousprocesses which may be substantially represented in computer readablestorage media and so executed by a computer or processor, whether suchcomputer or processor is explicitly shown.

A computer readable storage medium can take the form of a computerreadable program product embodied in one or more computer readablemedium(s) and having computer readable program code embodied thereonthat is executable by a computer. A computer readable storage medium asused herein is considered a non-transitory storage medium given theinherent capability to store the information therein as well as theinherent capability to provide retrieval of the information there from.A computer readable storage medium can be, for example, but is notlimited to, an electronic, magnetic, optical, electromagnetic, infrared,or semiconductor system, apparatus, or device, or any suitablecombination of the foregoing. Some or all aspects of the storage mediummay be remotely located (e.g., in the ‘cloud’). It is to be appreciatedthat the following, while providing more specific examples of computerreadable storage mediums to which the present principles can be applied,is merely an illustrative and not exhaustive listing, as is readilyappreciated by one of ordinary skill in the art: a hard disk, aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a portable compact disc read-only memory (CD-ROM), anoptical storage device, a magnetic storage device, or any suitablecombination of the foregoing.

1-12. (canceled)
 13. A method for obtaining observation data of anenvironment, wherein the method is implemented by a device having a baseand a detachable probe, the detachable probe comprising at least onesensor for environment observation, the method comprising: determining,by the base, a desired trajectory of the detachable probe; ejecting thedetachable probe, as a function of the determined desired trajectory,the detachable probe triggering at least one observation using its atleast one sensor after the detachable probe is ejected; and receiving,from the detachable probe, observation data from the at least oneobservation performed by the detachable probe.
 14. The method accordingto claim 13, wherein the desired trajectory of the detachable probe isdetermined by the base based on features of the detachable probe. 15.The method according to claim 14, wherein the features of the detachableprobe comprise at least one of: inertial features; aerodynamicalfeatures; number and type of the at least one sensor.
 16. The methodaccording to claim 14, wherein the features of the detachable probecomprise detachable probe type information.
 17. The method according toclaim 16, wherein the detachable probe type information is retrievedfrom the detachable probe by the base.
 18. The method according to claim13, wherein the determined desired trajectory determines at least oneof: an ejection angle; an ejection force; an amount of rotation given bythe base to the detachable probe at ejection.
 19. The method accordingto claim 13, wherein the observation data is at least partly receivedfrom the detachable probe when the detachable probe is ejected.
 20. Adevice for obtaining observation data of an environment, the devicecomprising: a base; an ejection mechanism for ejecting a detachableprobe, the detachable probe comprising at least one sensor forenvironment observation; the base comprising at least one processor, theat least one processor being configured to: determine a desiredtrajectory of the detachable probe; eject the detachable probe, as afunction of the determined desired trajectory, the detachable probetriggering at least one observation using its at least one sensor afterthe detachable probe is ejected; and receive, from the detachable probe,observation data from the at least one observation performed by thedetachable probe.
 21. The device according to claim 20, wherein the atleast one processor is configured to determine the desired trajectory ofthe detachable probe based on features of the detachable probe.
 22. Thedevice according to claim 21, wherein the features of the detachableprobe comprise at least one of: inertial features; aerodynamicalfeatures; number and type of the at least one sensor.
 23. The deviceaccording to claim 21, wherein the features of the detachable probe arecomprised in detachable probe type information.
 24. The device accordingto claim 23, wherein the at least one processor is configured toretrieve the detachable probe type information from the detachableprobe.
 25. The device according to claim 20, wherein the desiredtrajectory as determined by the at least one processor determines atleast one of: an ejection angle; an ejection force; an amount ofrotation given by the base to the detachable probe at ejection.
 26. Thedevice according to claim 20, wherein the at least one processor isconfigured to receive the observation data at least partly when thedetachable probe is ejected.